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Fix graph manager node namespaces (#72)

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This commit is contained in:
Pablo Garrido
2021-07-02 09:44:20 +02:00
committed by GitHub
parent e133754746
commit a623308505
1 changed files with 30 additions and 2 deletions
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micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+30 -2
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@@ -309,8 +309,36 @@ void GraphManager::add_participant(
if (node_name != enclave) // Do not add root node
{
// Split node name in domain and node name
std::istringstream iss(node_name);
std::vector<std::string> result;
std::string token;
while(std::getline(iss, token, '/'))
{
result.push_back(token);
}
std::string isolated_node_name = "";
std::string isolated_namespace = "";
if (result.size() > 1)
{
isolated_namespace = result[0];
for (size_t i = 1; i < result.size(); i++)
{
isolated_node_name.append(result[i] + "/");
}
isolated_node_name.pop_back();
}
else
{
isolated_node_name = node_name;
isolated_namespace = "";
}
rmw_dds_common::msg::ParticipantEntitiesInfo info =
graphCache_.add_node(gid, node_name, enclave_);
graphCache_.add_node(gid, isolated_node_name, isolated_namespace);
ros_discovery_datawriter_->write(static_cast<void *>(&info));
}
}
@@ -587,7 +615,7 @@ static eprosima::fastdds::dds::DataReaderQos reader_qos_conversion(
const eprosima::fastdds::dds::ReaderQos& reader_qos)
{
eprosima::fastdds::dds::DataReaderQos datareader_qos;
datareader_qos.durability(reader_qos.m_durability);
datareader_qos.deadline(reader_qos.m_deadline);
datareader_qos.latency_budget(reader_qos.m_latencyBudget);